Fawkes API  Fawkes Development Version
motor_control_thread.h
1 
2 /***************************************************************************
3  * motor_control_thread.h - Katana direct motor encoder/value control thread
4  *
5  * Created: Sun Mar 13 14:44:24 2011
6  * Copyright 2011 Bahram Maleki-Fard
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
24 #define _PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
25 
26 #include "motion_thread.h"
27 
29 {
30 public:
32  fawkes::Logger * logger,
33  unsigned int poll_interval_ms);
34 
35  virtual void set_encoder(unsigned int nr, int value, bool inc = false);
36  virtual void set_angle(unsigned int nr, float value, bool inc = false);
37 
38  virtual void once();
39 
40  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
41 protected:
42  virtual void
43  run()
44  {
45  Thread::run();
46  }
47 
48 private:
49  unsigned int nr_;
50  int encoder_;
51  float angle_;
52 
53  bool is_encoder_, is_inc_;
54  unsigned int poll_interval_usec_;
55 };
56 
57 #endif
Katana motion thread base class.
Definition: motion_thread.h:36
Katana motor control thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
KatanaMotorControlThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
virtual void once()
Execute an action exactly once.
virtual void set_encoder(unsigned int nr, int value, bool inc=false)
Set target encoder value.
virtual void set_angle(unsigned int nr, float value, bool inc=false)
Set target angle value.
Interface for logging.
Definition: logger.h:42